Robotic assembly operation teaching in a virtual environment
Robotic assembly operation teaching in a virtual environment
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虚拟环境下的机器人装配操作教学
DOI：
10.1109/70.294213
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发表时间：
1994
期刊：
影响因子：
--
通讯作者：
Tomoichi Takahashi
中科院分区：
文献类型：
--
作者：
H. Ogata;Tomoichi Takahashi
提出了一种使用图形界面的“展示教学”系统。该系统提供：1）用户界面，没有经验的操作员可以通过该用户界面轻松地教授任务；2）可以在不同环境中操作任务的任务执行系统。操作员在计算机创建的虚拟环境中展示装配任务移动的示例。有限自动机相关定义的任务用于将运动解释为操作的高级表示序列。当系统被命令执行学习任务时，系统会观察任务环境，检查任务在环境中的几何可行性，并在必要时重新规划操作顺序，以便机器人能够完成任务。然后，系统使用与任务相关的解释规则将操作序列转换为操纵器级命令，并通过在虚拟环境中复制操作员的动作来执行任务。 >
A "teaching by showing" system using a graphic interface is proposed. This system provides: 1) a user interface with which an inexperienced operator can easily teach a task, and 2) a task execution system that can operate the task in a different environment. The operator shows an example of assembly task movements in the virtual environmental created in the computer. A finite automaton dependently defined task is used to interpret the movements as a sequence of high-level representations of operations. When the system is commanded to operate the learning task, the system observes the task environment, checks the geometrical feasibility of the task in the environment, and if necessary replans the sequence of operations so that the robot can complete the task. Then the system uses task-dependent interpretation rules to translate the sequence of operations into manipulator-level commands and executes the task by replicating the operator's movement in the virtual environment. >